pi05-libero

Name: pi05-libero
Author: graph-robots

26stars4forks

How to install pi05-libero?

graph-robots/open-robot-skills/pi05-libero

$npx -y skills add graph-robots/open-robot-skills --skill pi05-libero

Installs into the current project.

Summary

Run the openpi π0.5 LIBERO checkpoint (pi05_libero) as a

Files · 1

View on GitHub

SKILL.md

1	# pi05-libero
2
3	Closed-loop VLA-policy skill backed by one model checkpoint: openpi's
4	π0.5 LIBERO checkpoint (`pi05_libero`). The skill is the model — it owns
5	its serving preset (`pi05-libero`), so a policy node names this skill, not a
6	free-floating `policy_id`. The closed-loop replan/execute/terminate body and
7	the load-bearing LIBERO observation encoding live in
8	`gap.runtime.policy.run_policy_loop`; the websocket client is resolved (and
9	cached per preset) through the executor's `PolicyExecutor`.
10
11	## Capability
12
13	- Embodiment: Franka Panda (LIBERO/robosuite), OSC_POSE delta action
14	space `[Δx, Δy, Δz, Δrx, Δry, Δrz, gripper]`. No embodiment translation
15	happens in the loop — the checkpoint's native action space is forwarded to
16	`sim.apply_policy_action`.
17	- Tasks: the LIBERO pick-and-place distribution — pick a tabletop rigid
18	object, optionally place/drop it in a container. Works best steered:
19	perceive the target and hover the end-effector above it (preserving the
20	current rotation) before handing over, so the policy starts in-distribution.
21	- Not for: deformables / cloth folding, articulated objects, non-LIBERO
22	embodiments, or tasks the checkpoint never saw. If the task is outside this
23	envelope, pick a different skill or report a missing capability — do not
24	delegate it here and hope.
25
26	## Serving
27
28	The bundle ships its own `server.py` (vendored from openpi `scripts/serve_policy.py`)
29	and declares `openpi` as a git dep in its own `pyproject.toml` — so this
30	bundle is self-contained: no `$GAP_OPENPI_DIR` clone, no shared venv.
31	First-run setup is `gap skills install pi05-libero`, which `uv sync`s the
32	bundle's `.venv/` with all model deps. The launcher then spawns the server
33	via `uv run --project policies/pi05-libero -- python server.py ...` (so the
34	bundle's own venv activates automatically) and downloads the checkpoint from
35	`s3://openpi-assets/checkpoints/pi05_libero` on first run.
36
37	Run it yourself with `gap policy serve pi05-libero`. A `policies:` config
38	entry named `pi05-libero` overrides the recipe (e.g. an external `url:`).
39
40	## Termination & exits
41
42	The loop exits on whichever fires first — a commanded gripper
43	open→close→open cycle (`gripper_cycle`, the per-item terminator for
44	clean-all loops; set `gripper_cycle_termination: true`), a non-empty
45	`termination_prompt` answered yes by the VLM (`completed_by_vlm`), or the
46	`max_windows` backstop. These are the subgraph's success exits; the failure
47	exit is `failed` (the loop raised). **Whether the task actually succeeded is
48	a checkpoint, not an exit** — attach a postcondition that checks the world
49	(e.g. the object is in the container), never an exit value like "folded".

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pi05-libero

26stars4forks

View on GitHub

How to install pi05-libero?

graph-robots/open-robot-skills/pi05-libero

$npx -y skills add graph-robots/open-robot-skills --skill pi05-libero

Installs into the current project.

Summary

Run the openpi π0.5 LIBERO checkpoint (pi05_libero) as a

Files · 1

View on GitHub

SKILL.md

1	# pi05-libero
2
3	Closed-loop VLA-policy skill backed by one model checkpoint: openpi's
4	π0.5 LIBERO checkpoint (`pi05_libero`). The skill is the model — it owns
5	its serving preset (`pi05-libero`), so a policy node names this skill, not a
6	free-floating `policy_id`. The closed-loop replan/execute/terminate body and
7	the load-bearing LIBERO observation encoding live in
8	`gap.runtime.policy.run_policy_loop`; the websocket client is resolved (and
9	cached per preset) through the executor's `PolicyExecutor`.
10
11	## Capability
12
13	- Embodiment: Franka Panda (LIBERO/robosuite), OSC_POSE delta action
14	space `[Δx, Δy, Δz, Δrx, Δry, Δrz, gripper]`. No embodiment translation
15	happens in the loop — the checkpoint's native action space is forwarded to
16	`sim.apply_policy_action`.
17	- Tasks: the LIBERO pick-and-place distribution — pick a tabletop rigid
18	object, optionally place/drop it in a container. Works best steered:
19	perceive the target and hover the end-effector above it (preserving the
20	current rotation) before handing over, so the policy starts in-distribution.
21	- Not for: deformables / cloth folding, articulated objects, non-LIBERO
22	embodiments, or tasks the checkpoint never saw. If the task is outside this
23	envelope, pick a different skill or report a missing capability — do not
24	delegate it here and hope.
25
26	## Serving
27
28	The bundle ships its own `server.py` (vendored from openpi `scripts/serve_policy.py`)
29	and declares `openpi` as a git dep in its own `pyproject.toml` — so this
30	bundle is self-contained: no `$GAP_OPENPI_DIR` clone, no shared venv.
31	First-run setup is `gap skills install pi05-libero`, which `uv sync`s the
32	bundle's `.venv/` with all model deps. The launcher then spawns the server
33	via `uv run --project policies/pi05-libero -- python server.py ...` (so the
34	bundle's own venv activates automatically) and downloads the checkpoint from
35	`s3://openpi-assets/checkpoints/pi05_libero` on first run.
36
37	Run it yourself with `gap policy serve pi05-libero`. A `policies:` config
38	entry named `pi05-libero` overrides the recipe (e.g. an external `url:`).
39
40	## Termination & exits
41
42	The loop exits on whichever fires first — a commanded gripper
43	open→close→open cycle (`gripper_cycle`, the per-item terminator for
44	clean-all loops; set `gripper_cycle_termination: true`), a non-empty
45	`termination_prompt` answered yes by the VLM (`completed_by_vlm`), or the
46	`max_windows` backstop. These are the subgraph's success exits; the failure
47	exit is `failed` (the loop raised). **Whether the task actually succeeded is
48	a checkpoint, not an exit** — attach a postcondition that checks the world
49	(e.g. the object is in the container), never an exit value like "folded".

People who liked this also viewed

6 picks

Type